version: 66.06
glider: 146
mission: 5
dive: 455
start: 10 20 110 6 0 52
data:
$ID,146
$MISSION,5
$DIVE,455
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,750
$D_NO_BLEED,200
$D_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,166
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52407
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,420
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-258307.16
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,1770
$C_ROLL_CLIMB,1820
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,89
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3001
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.527605
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043563824
$SEABIRD_T_H,0.00063101487
$SEABIRD_T_I,2.4083547e-05
$SEABIRD_T_J,2.5612533e-06
$SEABIRD_C_G,-9.9059887
$SEABIRD_C_H,1.1423759
$SEABIRD_C_I,-0.0019893181
$SEABIRD_C_J,0.00023308786
$GPS1,055204,2256.449,-15744.880,12,99.0,31,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-69.9
$GPS2,055956,2256.506,-15744.924,13,1.2,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.194,-0.132
$KALMAN_X,-261796.3,121.3,-53.4,305927.4,-14.7
$KALMAN_Y,-608332.1,330.3,338.0,748269.8,-147.0
$MHEAD_RNG_PITCHd_Wd,225.8,21545,-19.8,-10.040
$D_GRID,500
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-78.82,0.000,2,0.000,0.000,474,1810,3212,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.1,-5.3,10,127,11.52,2.78,-5.18,0.000,4,0.146,0.061,2692,190,3479,0,0,0,0,0,0
$GC,232,-1.27,-116.8,30.9,-16.6,28,237,0.15,2.40,0.00,0.000,6,0.133,0.016,2721,1763,3481,0,0,0,0,0,0
$GC,499,-1.27,-116.8,68.0,-12.2,52,504,0.00,2.67,0.00,0.000,4,0.000,0.059,2721,188,3482,0,0,0,0,0,0
$GC,510,-1.27,-116.8,70.4,-12.7,52,520,0.00,2.45,0.00,0.000,6,0.000,0.016,2721,1793,3482,0,0,0,0,0,0
$GC,776,-1.27,-116.8,100.4,-10.9,77,780,0.00,2.38,0.00,0.000,4,0.000,0.024,2721,3305,3483,0,0,0,0,0,0
$GC,809,-1.31,-116.8,103.4,-9.7,79,814,0.00,2.50,0.00,0.000,6,0.000,0.028,2721,1750,3483,0,0,0,0,0,0
$GC,1076,-1.35,-116.8,127.2,-10.0,103,1081,0.00,2.62,0.00,0.000,4,0.000,0.061,2721,190,3484,0,0,0,0,0,0
$GC,1095,-1.35,-116.8,129.6,-10.1,104,1099,0.00,2.35,0.00,0.000,6,0.000,0.016,2721,1749,3484,0,0,0,0,0,0
$GC,1365,-1.39,-116.8,155.2,-8.9,129,1370,0.10,2.47,0.00,0.000,4,0.083,0.024,2686,3321,3485,0,0,0,0,0,0
$GC,1407,-1.39,-116.8,159.3,-9.5,132,1412,0.00,2.50,0.00,0.000,6,0.000,0.035,2686,1770,3484,0,0,0,0,0,0
$GC,1670,-1.39,-116.8,184.9,-10.4,156,1674,0.00,2.70,0.00,0.000,4,0.000,0.068,2686,198,3485,0,0,0,0,0,0
$GC,1735,-1.39,-116.8,192.7,-12.0,161,1739,0.00,2.40,0.00,0.000,6,0.000,0.022,2685,1770,3484,0,0,0,0,0,0
$GC,2008,-1.39,-116.8,223.0,-11.1,172,2012,0.00,2.42,0.00,0.000,4,0.000,0.031,2685,3324,3485,0,0,0,0,0,0
$GC,2029,-1.39,-116.8,225.5,-11.1,172,2033,0.00,2.50,0.00,0.000,6,0.000,0.031,2685,1769,3485,0,0,0,0,0,0
$GC,2289,-1.39,-116.8,252.0,-10.2,179,2294,0.00,2.72,0.00,0.000,4,0.000,0.074,2685,195,3485,0,0,0,0,0,0
$GC,2323,-1.39,-116.8,255.5,-10.6,179,2329,0.00,2.42,0.00,0.000,6,0.000,0.017,2685,1758,3484,0,0,0,0,0,0
$GC,2573,-1.39,-116.8,278.2,-9.0,186,2578,0.00,2.53,0.00,0.000,4,0.000,0.038,2685,3343,3484,0,0,0,0,0,0
$GC,2614,-1.45,-116.8,282.0,-9.8,187,2618,0.00,2.55,0.00,0.000,6,0.000,0.032,2685,1778,3484,0,0,0,0,0,0
$GC,2898,-1.45,-116.8,310.1,-9.7,194,2903,0.00,2.78,0.00,0.000,4,0.000,0.080,2686,192,3483,0,0,0,0,0,0
$GC,2920,-1.45,-116.8,312.5,-10.0,194,2924,0.00,2.47,0.00,0.000,6,0.000,0.020,2685,1771,3483,0,0,0,0,0,0
$GC,3175,-1.45,-116.8,336.6,-9.5,201,3179,0.00,2.53,0.00,0.000,4,0.000,0.042,2686,3346,3482,0,0,0,0,0,0
$GC,3209,-1.50,-116.8,339.9,-9.6,201,3215,0.00,2.58,0.00,0.000,6,0.000,0.045,2685,1789,3482,0,0,0,0,0,0
$GC,3459,-1.50,-116.8,363.8,-9.6,208,3461,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1789,3480,0,0,0,0,0,0
$GC,3703,-1.50,-116.8,388.9,-10.4,214,3704,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1789,3479,0,0,0,0,0,0
$GC,3948,-1.50,-116.8,412.6,-9.6,220,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1789,3478,0,0,0,0,0,0
$GC,4190,-1.50,-116.8,434.2,-8.8,226,4195,0.00,2.58,0.00,0.000,4,0.000,0.048,2685,3346,3477,0,0,0,0,0,0
$GC,4212,-1.50,-116.8,436.2,-9.4,226,4216,0.00,2.65,0.00,0.000,6,0.000,0.057,2685,1786,3477,0,0,0,0,0,0
$GC,4469,-1.50,-116.8,458.9,-8.9,233,4473,0.00,2.55,0.00,0.000,4,0.000,0.047,2685,3339,3475,0,0,0,0,0,0
$GC,4496,-1.55,-116.8,461.8,-9.6,233,4501,0.10,2.62,0.00,0.000,6,0.084,0.059,2650,1792,3474,0,0,0,0,0,0
$GC,4746,-1.55,-116.8,490.7,-12.2,239,4750,0.00,2.58,0.00,0.000,4,0.000,0.048,2650,3336,3473,0,0,0,0,0,0
$GC,4774,-1.55,-116.8,494.4,-13.4,239,4778,0.00,2.62,0.00,0.000,6,0.000,0.063,2650,1805,3473,0,0,0,0,0,0
$STATE,4818,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4818,begin apogee
$GC,4824,-0.31,0.0,500.3,12.5,240,4926,1.27,0.00,98.62,0.926,6,0.100,0.000,2929,1805,3001,0,0,0,0,0,0
$STATE,4927,end apogee,CONTROL_FINISHED_OK
$STATE,4927,begin climb
$GC,4929,1.38,116.8,504.3,0.0,242,5043,1.58,2.78,101.22,0.904,4,0.039,0.054,3307,3385,2524,0,0,0,0,0,0
$GC,5060,1.37,209.2,505.9,4.7,245,5149,0.00,2.72,80.95,0.890,6,0.000,0.061,3307,1821,2147,0,0,0,0,0,0
$GC,5436,1.28,209.2,462.6,12.9,255,5442,0.15,2.62,0.00,0.000,4,0.124,0.043,3278,3394,2138,0,0,0,0,0,0
$GC,5476,1.28,209.2,457.5,12.1,256,5481,0.00,2.70,0.00,0.000,6,0.000,0.056,3278,1833,2137,0,0,0,0,0,0
$GC,5759,1.28,209.2,426.3,10.5,263,5763,0.00,2.58,0.00,0.000,4,0.000,0.037,3278,3398,2135,0,0,0,0,0,0
$GC,5787,1.28,209.2,423.5,10.4,263,5792,0.00,2.67,0.00,0.000,6,0.000,0.051,3278,1830,2135,0,0,0,0,0,0
$GC,6037,1.30,230.9,400.9,8.8,269,6057,0.00,0.00,18.50,0.824,6,0.000,0.000,3278,1830,2059,0,0,0,0,0,0
$GC,6281,1.32,240.9,378.3,9.5,275,6296,0.00,2.97,10.48,0.767,4,0.000,0.093,3278,232,2016,0,0,0,0,0,0
$GC,6315,1.26,240.9,374.7,10.9,275,6322,0.00,2.55,0.00,0.000,6,0.000,0.021,3278,1828,2015,0,0,0,0,0,0
$GC,6564,1.26,240.9,348.5,10.4,282,6566,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1829,2013,0,0,0,0,0,0
$GC,6809,1.28,252.0,325.1,9.4,288,6825,0.00,2.60,11.20,0.755,4,0.000,0.035,3279,3401,1971,0,0,0,0,0,0
$GC,6860,1.34,257.0,320.0,9.7,289,6872,0.00,2.62,5.85,0.641,6,0.000,0.043,3278,1840,1952,0,0,0,0,0,0
$GC,7133,1.35,263.3,293.3,9.7,296,7148,0.00,2.92,7.03,0.676,4,0.000,0.077,3278,232,1926,0,0,0,0,0,0
$GC,7189,1.31,263.3,287.4,11.3,297,7194,0.00,2.58,0.00,0.000,6,0.000,0.021,3278,1847,1925,0,0,0,0,0,0
$GC,7461,1.31,266.6,260.9,9.9,304,7470,0.00,2.47,4.15,0.526,4,0.000,0.032,3278,3390,1914,0,0,0,0,0,0
$GC,7506,1.40,266.6,256.3,10.5,305,7512,0.12,2.58,0.00,0.000,6,0.084,0.039,3312,1837,1913,0,0,0,0,0,0
$GC,7791,1.40,266.6,224.9,10.8,312,7796,0.00,2.80,0.00,0.000,4,0.000,0.074,3312,241,1912,0,0,0,0,0,0
$GC,7824,1.31,266.6,220.9,12.5,312,7830,0.12,2.53,0.00,0.000,6,0.127,0.027,3288,1831,1911,0,0,0,0,0,0
$GC,8074,1.34,292.8,199.1,8.5,319,8109,0.00,2.60,24.65,0.710,4,0.000,0.035,3288,3395,1805,0,0,0,0,0,0
$GC,8117,1.39,293.7,195.1,10.0,322,8122,0.00,2.62,0.00,0.000,6,0.000,0.043,3288,1823,1805,0,0,0,0,0,0
$GC,8379,1.44,293.7,166.6,10.7,347,8385,0.10,2.78,0.00,0.000,4,0.091,0.070,3316,240,1802,0,0,0,0,0,0
$GC,8468,1.38,293.7,154.8,13.2,354,8472,0.00,2.47,0.00,0.000,6,0.000,0.025,3316,1812,1801,0,0,0,0,0,0
$GC,8730,1.38,293.7,125.6,10.9,378,8734,0.00,2.53,0.00,0.000,4,0.000,0.031,3316,3388,1801,0,0,0,0,0,0
$GC,8777,1.44,293.7,121.1,10.6,381,8782,0.00,2.60,0.00,0.000,6,0.000,0.044,3316,1814,1799,0,0,0,0,0,0
$GC,9043,1.44,293.7,92.9,10.1,405,9048,0.00,2.67,0.00,0.000,4,0.000,0.062,3316,238,1799,0,0,0,0,0,0
$GC,9077,1.40,293.7,89.1,11.7,407,9081,0.00,2.50,0.00,0.000,6,0.000,0.026,3316,1831,1799,0,0,0,0,0,0
$GC,9344,1.47,304.8,62.1,9.4,431,9361,0.00,2.55,10.93,0.559,4,0.000,0.030,3316,3385,1757,0,0,0,0,0,0
$GC,9436,1.64,321.7,54.3,9.1,438,9465,0.17,2.55,16.60,0.568,6,0.067,0.033,3362,1827,1687,0,0,0,0,0,0
$GC,9727,1.64,321.7,26.7,10.1,466,9736,0.00,2.72,0.00,0.000,4,0.000,0.059,3362,247,1683,0,0,0,0,0,0
$GC,9762,1.58,321.7,23.0,10.6,470,9771,0.00,2.50,0.00,0.000,6,0.000,0.019,3361,1834,1683,0,0,0,0,0,0
$STATE,9944,end climb,SURFACE_DEPTH_REACHED
$STATE,9944,begin surface coast
$FINISH,0.4,1.023010
$STATE,9986,end surface coast,CONTROL_FINISHED_OK
$STATE,9986,begin surface
$SM_CCo,10010,87.85,0.473,1,0,1288,420.20
$SM_GC,1.05,0.00,0.00,87.85,0.000,0.000,0.473,473,1744,1288,-11.62,-0.71,420.20
$IRIDIUM_FIX,2248.70,-15745.85,140100,030334
$TT8_MAMPS,0.026078
$HUMID,53.50
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.40
$XPDR_PINGS,92
$24V_AH,23.3,63.162
$10V_AH,10.0,60.215
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,27.200,145.250,390.175,87.850,0.000,27.527,38.549,266.546,23.000,0.000,15.215,1030.511,6453.288,554.806,1899.122,639.792,33.370,1282.712,0.000,1901.017,0.000,0.533,0.000
$DEVICE_MAMPS,146.497,92.807,925.769,473.239,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,339.295,291.473,388.641,750.798,1135.658,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,38459,502
$CAP_FILE_SIZE,112055,0
$CFSIZE,260165632,155762688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,201010,085036,2255.906,-15745.812,35,1.1,40,10.1